Three-axis gimbal and three-axis gimbal photographing apparatus

ABSTRACT

A three-axis gimbal and three-axis gimbal photographing apparatus are provided. The first electromechanical coupling apparatus of the three-axis gimbal includes a first hollow motor shaft. The first hollow motor shaft has a first accommodation cavity. A second electromechanical coupling apparatus includes a second hollow motor shaft. The second hollow motor shaft has a second accommodation cavity. A pitch axis arm includes a pitch axis accommodation cavity, A roll axis component includes a first conductive wire configured in the first accommodation cavity and the roll axis arm accommodation cavity. A pitch axis component includes a second conductive wire configured in the second accommodation cavity and the pitch axis arm accommodation cavity. The first conductive wire is connected to the second conductive wire.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation application of InternationalApplication No. PCT/CN2016/101623, filed on Oct. 10, 2016, the entirecontents of which are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to the field of gimbal and, moreparticularly, to a three-axis gimbal and a photographing apparatusincluding a three-axis gimbal.

BACKGROUND

In related technologies, a connection bus of a gimbal generally may bein a form of a flexible printed circuit board and winds around an outersurface of motor shaft of an electromechanical coupling apparatus.Correspondingly, when a rotating body of the electromechanical couplingapparatus rotates in one direction, one end portion of the flexiblecircuit board rotates together with the rotation of the rotating body,and a connecting portion of the flexible circuit board relaxes over therotating body. When the rotating body rotates in the other direction,the flexible circuit board is wound relatively tight around the rotatingbody. In another approach, a connection bus of a gimbal is arranged tobe connected directly from an outer part to a control part of a motorwithout passing through the motor. Further, the flexible printed circuitboard is exposed outside a support arm of the gimbal, and is coupled toa device such as a camera.

SUMMARY

The present disclosure provides a three-axis gimbal and three-axisgimbal photographing apparatus.

According to a first aspect of the present disclosure, a three-axisgimbal for mounting a photographing component is provided, comprising: aroll axis component and a pitch axis component, wherein: roll axiscomponent includes a roll axis arm and a first electromechanicalcoupling apparatus arranged at one end of the roll axis arm; the pitchaxis component includes a pitch axis arm and a second electromechanicalcoupling apparatus arranged at one end of the pitch axis arm; the firstelectromechanical coupling apparatus includes a first hollow motorshaft; a first accommodation cavity is arranged in the first hollowmotor shaft; a roll axis arm accommodation cavity is arranged in theroll axis arm; the first accommodation cavity is connected to the rollaxis arm accommodation cavity; the second electromechanical couplingapparatus includes a second hollow motor shaft; a second accommodationcavity is arranged in the second hollow motor shaft; a pitch axis armaccommodation cavity is arranged in the pitch axis arm; the secondaccommodation cavity is connected to the pitch axis arm accommodationcavity; the roll axis component further includes a first conductive wirein the first accommodation cavity and the roll axis arm accommodationcavity; the pitch axis component further includes a second conductivewire in the second accommodation cavity and the pitch axis armaccommodation cavity; and the first conductive wire is connected to thesecond conductive wire.

According to a second aspect of the present disclosure, a three-axisgimbal is provided having the foregoing described features, wherein thefirst conductive wire and/or the second conductive wire are coaxialwires.

According to a second aspect of the present disclosure, a three-axisgimbal is provided having the foregoing described features, wherein thefirst conductive wire and/or the second conductive wire are coaxialwires.

According to a third aspect of the present disclosure, a three-axisgimbal photographing apparatus is provided, comprising: a fuselage; aphotographing component; and the three-axis gimbal between the fuselageand the photographing component. The foregoing description of thethree-axis gimbal also applies to the three-axis gimbal of thethree-axis gimbal photographing apparatus.

The technical solutions provided by the embodiments of the presentdisclosure has the following beneficial results: the conductive wires ofthe three-axis gimbal are arranged in the electromechanical couplingapparatus and pass through axes, and are also arranged in the supportarm of the gimbal. Accordingly, issues such as wire winding or wirescraping may be suppressed. Further, the structure can be relativelycompact and reliable.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an axonometric view of an exemplary three-axis gimbalaccording to disclosed embodiments of the present disclosure.

FIG. 2 is a front view of an exemplary three-axis gimbal according todisclosed embodiments of the present disclosure.

FIG. 3 is an A-A arrow view of the exemplary three-axis gimbal in FIG. 2according to disclosed embodiments of the present disclosure.

FIG. 4 is a B-B arrow view of the exemplary three-axis gimbal in FIG. 2according to disclosed embodiments of the present disclosure.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Technical solutions of the present disclosure will be described withreference to the drawings. The following description refers to the sameor similar elements in the different drawings, unless otherwiseindicated. The embodiments described in the following exemplaryembodiments do not represent all embodiments consistent with the presentdisclosure. Instead, they are merely examples of devices and methodsconsistent with aspects of the present application as detailed in theappended claims.

Some embodiments of the present disclosure are described in detailsbelow with reference to the accompanying drawings. The features of theembodiments and examples described below may be combined as long as theyare not contradictory to each other.

In related technologies, a flexible printed circuit board may wound on asurface of motor shaft, and a relatively large winding space may beneeded, increasing a thickness of motor. Further, the flexible printedcircuit board can only transmit signals at low transmission rates andcannot transmit signals with high transmission rates due to a process ofthe flexible printed circuit board.

Alternatively, a connection bus of a gimbal may be arranged to beconnected directly from an outer part to a control part of a motorwithout passing through the motor. In this approach, the number ofconnection buses and rotation angles of the gimbal are limited, whichtend to cause issues such as winding or scraping of connection buses.Accordingly, a service life of the gimbal may be reduced. In particular,on a multi-axis gimbal, the above-described issues may be relativelyeasy to occur.

The present disclosure provides a three-axis gimbal and three-axisgimbal photographing apparatus. The conductive wires of the three-axisgimbal are arranged in the electromechanical coupling apparatus and passthrough axes, and are also arranged in the support arm of the gimbal.Accordingly, issues such as wire winding or wire scraping may besuppressed. Further, the structure can be relatively compact andreliable.

Referring to FIGS. 1 to 4, the present disclosure provides a three-axisgimbal (TAG) photographing apparatus. The TAG photographing apparatusincludes a fuselage (not shown), a photographing device component 200,also referred to as “photographing component,” and a three-axis gimbal100. The three-axis gimbal 100 is coupled to the fuselage and thephotographing component 200, and is between the fuselage and thephotographing component 200.

The three-axis gimbal 100 is used to carry the photographing component200. The three-axis gimbal 100 includes a roll axis component 1 and apitch axis component 2. The roll axis component 1 includes a roll axisarm 11 and a first electromechanical coupling apparatus 12 arranged atone end of the roll axis arm 11. The first electromechanical couplingapparatus 12 is arranged at an upper end of the roll axis arm 11. Thepitch axis component 2 includes a pitch axis arm 21 and a secondelectromechanical coupling apparatus 22 arranged at one end of the pitchaxis arm 21. The second electromechanical coupling apparatus 22 isarranged at an end portion of the pitch axis arm 21.

As shown in FIG. 3, the first electromechanical coupling apparatus 12includes a first hollow motor shaft 121. The first hollow motor shaft121 includes a first accommodation cavity 120. The roll axis arm 11includes a roll axis arm accommodation cavity 110. The firstaccommodation cavity 120 is connected to the roll axis arm accommodationcavity 110 for arranging conductive wires. As shown in FIG. 4, thesecond electromechanical coupling apparatus 22 includes a second hollowmotor shaft 221. A second accommodation cavity 220 for wiring isarranged in the second hollow motor shaft 221. The pitch axis arm 21includes a pitch axis arm accommodation cavity 210. The secondaccommodation cavity 220 is connected to the pitch axis armaccommodation cavity 210 for arranging wires. The roll axis component 1further includes a first conductive wire 13 arranged in the firstaccommodation cavity 120 and the roll axis arm accommodation cavity 110.The pitch axis component 2 further includes a second conductive wire 23arranged in the second accommodation cavity 220 and the pitch axis armaccommodation cavity 210. The first conductive wire 13 is electricallycoupled to the second conductive wire 23, as shown in FIGS. 3 and 4.

In this embodiment, a first hollow motor shaft 121 and a second hollowmotor shaft 221 are arranged in the first coupling apparatus 12 and thesecond coupling apparatus 22 of the three-axis gimbal 100, respectively.The first hollow motor shaft 121 and the second hollow motor shaft 221accommodate the first conductive wire 13 and the second conductive wire23. The first conductive wire 13 and the second conductive wire 23 passthrough the first hollow motor shaft 121 and the second hollow motorshaft 221, respectively, without being arranged at the motor shaft in awire winding manner. Thus, the wire winding space can be reduced, andthe motor shaft thickness can be reduced. Arranging the first conductivewire 13 and the second conductive wire 23 in the shafts may make agimbal bus relatively neat, and make assembling relatively simple.

As shown in FIG. 3, in one embodiment, the first electromechanicalcoupling apparatus 12 of the three-axis gimbal 100 includes a firstconnector 122 that is coupled to the first conductive wire 13. The firstconnector 122 can be externally coupled to other connectors, e.g.,coupled to a connector at the TAG photographing apparatus or anintermediate connector arranged between the gimbal and the TAGphotographing apparatus for controlling communication. The firstconductive wire 13 is coupled to the first connector 122 through thefirst accommodation cavity 120 of the first hollow motor shaft 121. Thatis, the first conductive wire 13 passes through the first hollow motorshaft 121 along an axis line of the first accommodation cavity 120 forwiring, thereby making a relatively good use of space of the firsthollow motor shaft 121. As the three-axis gimbal 100 rotates, the firstconductive wire 13 does not rotate together with the rotation of thefirst hollow motor shaft 121. Accordingly, the first conductive wire 13is prevented from loosening and tightening around the first hollow motorshaft 121, and correspondingly the first conductive wire 13 is preventedfrom being easily scratched for winding.

Further, as shown in FIGS. 2 and 3, the first electromechanical couplingapparatus 12 includes a first motor housing 123, and the first connector122 is arranged at the first motor housing 123. The first conductivewire 13 is electrically coupled to the first connector 122. In someembodiments, the first motor housing 123 and the first hollow motorshaft 121 are integrally formed. In some embodiments, the first motorhousing 123 and the first hollow motor shaft 121 may be welded to eachother or coupled to each other securely in other manners. The firstconnector 122 includes a board-to-board connector. When the firstconnector 122 is coupled to an external connector of the TAGphotographing apparatus, the first conductive wire 13 is used fortransmitting interaction data of the first coupling apparatus 12 and thesecond coupling apparatus 22. A connection controller or an externalconnector may include a board-to-board connector matching with the firstconnector 122. The use of the board-to-board connector for theconnection with the TAG photographing apparatus can ensure stability ofhigh-speed data transmission of the three-axis gimbal 100 and the TAGphotographing apparatus, and can improve operability of the TAGphotographing apparatus.

Further, as shown in FIG. 4, the second electromechanical couplingapparatus 22 includes a second connector 223 coupled to the secondconductive wire 23, and the second connector 223 is coupled to thephotographing component 200. In some embodiments, an installation end 24for mounting the photographing component 200 may be arranged at an endof the pitch axis arm 2 other than the end at which the secondelectromechanical coupling apparatus 22 is arranged. The secondconductive wire 23 may extend from the installation end 24 and becoupled to the photographing component 200. A third electromechanicalcoupling apparatus (not shown) may be arranged at the installation end24, for matching with the photographing component 200. In someembodiments, two installation ends 24 may be arranged on two sides ofthe second electromechanical coupling apparatus 22 and coupled to thephotographing components 200, respectively.

The second conductive wire 23 may be coupled to the second connector 223through the second hollow motor shaft 221. Thus, one end of thephotographing component 200 may be coupled to the second connector 223through the second conductive wire 23. The second connector 223 may becoupled to the first connector 122 through the first conductive wire 13,realizing a data transmission path between the photographing component200 and the TAG photographing apparatus.

In the above embodiment, the first conductive wire 13 and secondconductive wire 23 may be directly connected to each other.Alternatively, the first conductive wire 13 and the second conductivewire 23 may be integrally arranged. That is, the first conductive wire13 and the second conductive wire 23 may be one conductive wire.

Further, as shown in FIG. 4, the second electromechanical couplingapparatus 22 includes a second motor housing 222. A second connector 223may be arranged at the second motor housing 222. In some embodiments,the second motor housing 222 and the second hollow motor shaft 221 maybe integrally formed. In some embodiments, the second motor housing 222and the second hollow motor shaft 221 may also be welded to each otheror coupled to each other securely in other manners. The second connector223 may be fixedly arranged at the second motor housing 222. The firstconnector 122 may be arranged at the first motor housing 123. The firstconnector 123 and the second connector both may be fixedly arranged, andmay be coupled to the external connector by plug-in or fixedly coupledto the external connector for data communication. Accordingly, aninternal circuit may not be easily damaged. For example, the firstconductive wire 13 and the second conductive wire 23 may be protectedfrom being damaged.

As shown in FIG. 4, in some embodiments, the roll axis arm component 2includes an intermediate connector (not shown) arranged at one end ofthe roll axis arm 11 that is coupled to the second electromechanicalcoupling apparatus 22. The intermediate connector is coupled to thefirst conductive wire 13. The intermediate connector is arranged betweenthe first connector 122 and the second connector 223. Two ends of thefirst conductive wire 13 are coupled to the first connector 122 and theintermediate connector, respectively, and the intermediate connector iscoupled to the second connector 223. In some embodiments, the secondconnector 223 and the intermediate connector include board-to-boardconnectors matching with each other. The first connector 122 is coupledto the intermediate connector through the first conductive wire 13. Theintermediate connector matches with and is coupled to the secondconnector 223 for data transmission. The use of the board-to-boardconnector can ensure stability of high-speed data transmission ofcontrol portion of the three-axis gimbal 100 and the TAG photographingapparatus, and improve operability of the TAG photographing apparatus.The board-to-board connection of the intermediate connector and thesecond connector 223 is the same as or similar to the connection of thefirst connector 122 and the controller of the TAG photographingapparatus.

In an embodiment, the first conductive wire 13 and/or the secondconductive wire 14 of the three-axis gimbal 100 may include coaxialwires. As shown in FIGS. 3 and 4, a portion of the coaxial wiresarranged in the roll axis accommodation cavity 110 and/or the pitch axisaccommodation cavity 210 may be tiled. That is, the first conductivewire 13 may be tiled in the roll axis accommodation cavity 110, and maybe is arranged at a surface of axis arm in an axis arm section of thefirst roll axis arm 11. A portion of the second conductive wire 14arranged in the pitch axis arm accommodation cavity 210 may be tiled,and may be arranged at a surface of axis arm in an axis arm section ofthe pitch axis arm 21. The portions in the first accommodation cavity120 and/or the second accommodation cavity 220 may be dispersed andunpacked, and at a free status.

To summarize the foregoing description, conductive wires of thethree-axis gimbal may be arranged in the electromechanical couplingapparatus and pass through axes, and may also be arranged in support armof the gimbal. Accordingly, issues such as wire winding or wire scrapingmay be suppressed. Further, the structure can be relatively compact andreliable. The first connector and the second connector may include aboard-to-board connector. The use of coaxial wires can overcome issuessuch as wire winding that may occur in a flexible printed circuit board,not only facilitating electrical connection, but also improving signalbandwidth and transmission rate of the gimbal.

The above description is only for the preferred embodiment of thepresent application, and is not intended to limit the presentdisclosure. Any modifications, equivalent substitutions, improvements,etc. made within the spirit and principles of the present disclosure arewithin the scope of the present disclosure.

A portion of the disclosure of this patent document contains materialwhich is subject to copyright protection. The copyright owner has noobjection to the facsimile reproduction by anyone of the patent documentor the patent disclosure, as it appears in the Patent and TrademarkOffice patent file or records, but otherwise reserves all copyrightrights whatsoever.

What is claimed is:
 1. A three-axis gimbal for mounting a photographing component, comprising: a roll axis component and a pitch axis component, wherein: the roll axis component includes a roll axis arm and a first electromechanical coupling apparatus arranged at one end of the roll axis arm; the pitch axis component includes a pitch axis arm and a second electromechanical coupling apparatus arranged at one end of the pitch axis arm; the first electromechanical coupling apparatus includes a first hollow motor shaft; a first accommodation cavity is arranged in the first hollow motor shaft; a roll axis arm accommodation cavity is arranged in the roll axis arm; the first accommodation cavity is connected to the roll axis arm accommodation cavity; the second electromechanical coupling apparatus includes a second hollow motor shaft; a second accommodation cavity is arranged in the second hollow motor shaft; a pitch axis arm accommodation cavity is arranged in the pitch axis arm; the second accommodation cavity is connected to the pitch axis arm accommodation cavity; the roll axis component further includes a first conductive wire in the first accommodation cavity and the roll axis arm accommodation cavity; the pitch axis component further includes a second conductive wire in the second accommodation cavity and the pitch axis arm accommodation cavity; and the first conductive wire is connected to the second conductive wire.
 2. The three-axis gimbal according to claim 1, wherein: the first electromechanical coupling apparatus includes a first connector coupled to the first conductive wire, and the first conductive wire is coupled to the first connector by passing through the first accommodation cavity of the first hollow motor shaft.
 3. The three-axis gimbal according to claim 2, wherein: the first electromechanical coupling apparatus includes a first motor housing, and the first connector is arranged at the first motor housing.
 4. The three-axis gimbal according to claim 3, wherein the first connector includes a board-to-board connector.
 5. The three-axis gimbal according to claim 3, wherein the first motor housing and the first hollow motor shaft are integrally formed.
 6. The three-axis gimbal according to claim 1, wherein: the second electromechanical coupling apparatus includes a second connector coupled to the second conductive wire, and the second conductive wire is coupled to the second connector by passing through the second hollow motor shaft.
 7. The three-axis gimbal according to claim 6, wherein: the second electromechanical coupling apparatus includes a second motor housing, and the second connector is arranged at the second motor housing.
 8. The three-axis gimbal according to claim 7, wherein the second motor housing and the second hollow motor shaft are integrally formed.
 9. The three-axis gimbal according to claim 7, wherein: the roll axis arm component includes an intermediate connector arranged at one end of the roll axis arm that is coupled to the second electromechanical coupling apparatus, the intermediate connector being coupled to the first conductive wire, and the intermediate connector is coupled to the second connector.
 10. The three-axis gimbal according to claim 9, wherein the second connector and the intermediate connector include board-to-board connectors matching to each other.
 11. The three-axis gimbal according to claim 1, wherein the first conductive wire is directly connected to the second conductive wire.
 12. The three-axis gimbal according to claim 1, wherein the first conductive wire and the second conductive wire are integrally formed.
 13. The three-axis gimbal according to claim 1, wherein: an installation end for mounting the photographing component is arranged at another end of the pitch axis arm that is other than the one end of the pitch axis arm at which the second electromechanical coupling apparatus is arranged, and the second conductive wire extends from the installation end.
 14. The three-axis gimbal according to claim 13, wherein a third electromechanical coupling apparatus is arranged at the installation end for matching with the photographing component.
 15. The three-axis gimbal according to claim 1, wherein the first conductive wire and/or the second conductive wire are coaxial wires.
 16. The three-axis gimbal according to claim 15, wherein: a first portion of the coaxial wire arranged in at least one of the roll axis accommodation cavity or the pitch axis accommodation cavity is tiled, and a second portion of the coaxial wire arranged in at least one of the first accommodation cavity or the second accommodation cavity is dispersed and unpacked.
 17. A three-axis gimbal photographing apparatus, comprising: a fuselage, a photographing component, and a three-axis gimbal between the fuselage and the photographing component, the three-axis gimbal including a roll axis component and a pitch axis component, wherein: the roll axis component includes a roll axis arm and a first electromechanical coupling apparatus arranged at one end of the roll axis arm; the pitch axis component includes a pitch axis arm and a second electromechanical coupling apparatus arranged at one end of the pitch axis arm; the first electromechanical coupling apparatus includes a first hollow motor shaft; a first accommodation cavity is arranged in the first hollow motor shaft; a roll axis arm accommodation cavity is arranged in the roll axis arm; the first accommodation cavity is connected to the roll axis arm accommodation cavity; the second electromechanical coupling apparatus includes a second hollow motor shaft; a second accommodation cavity is arranged in the second hollow motor shaft; a pitch axis arm accommodation cavity is arranged in the pitch axis arm; the second accommodation cavity is connected to the pitch axis arm accommodation cavity; the roll axis component further includes a first conductive wire in the first accommodation cavity and the roll axis arm accommodation cavity; the pitch axis component further includes a second conductive wire in the second accommodation cavity and the pitch axis arm accommodation cavity; and the first conductive wire is connected to the second conductive wire.
 18. The three-axis gimbal according to claim 17, wherein: the first electromechanical coupling apparatus includes a first connector coupled to the first conductive wire, and the first conductive wire is coupled to the first connector by passing through the first accommodation cavity of the first hollow motor shaft.
 19. The three-axis gimbal according to claim 18, wherein: the first electromechanical coupling apparatus includes a first motor housing, and the first connector is arranged at the first motor housing.
 20. The three-axis gimbal according to claim 19, wherein the first connector includes a board-to-board connector. 